带扰动的多非完整移动机器人分布式有限时间一致性控制

Distributed finite-time consensus algorithm for multiple nonholonomic mobile robots with disturbances

论文研究多个非完整移动机器人在控制输入存在干扰时,有限时间一致性控制问题.利用坐标变换,将多移动机器人系统的一致性问题转化为非完整约束链式系统的一致性问题,在控制输入带有未知有界干扰的条件下,设计了一种分布式控制算法,并利用Lyapunov理论证明了该算法能够使移动机器人的各个状态在有限时间内达到一致.最后通过数值仿真验证了算法的有效性.

This paper addresses the algorithm of finite-time consensus problem for multiple nonholomic mobile robots with disturbances. Coordinate transformation is used to convert the mobile robot kinematics into multiple nonholomic chained-form systems. Under the restriction of bounded disturbances, distributed control laws are designed for achieving the consensus objectives. Rigorous proof using Lyapunov theory shows that the sates of all mobile robots can reach a consensus in finite time. Finally, simulations are provided to verify the efficiency of the proposed method.